Non-Rigid Motion Compensation With Skin Deformation Prediction for in Situ Bioprinting

This paper introduces a novel method of non-rigid motion compensation for <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">in situ</i> bioprinting. Most bioprinting platforms use open-loop systems, but it raises concerns about patient safety and suboptimal wound coverage in case of patient motion. To handle these issues, our method integrates an RGB-D camera to manage orientation and to predict deformations, along with a laser telemeter to regulate deposited material thickness. The proposed approach has been evaluated on a moving silicone platform that deforms at 0.8 Hz with a 4 mm in-plane amplitude and a 20 mm elevation amplitude. Our method resulted in a wound coverage error of less than 1 %. Comparative analysis demonstrates a 73.0% enhancement in deforming path following compared to existing methods. Additionally, by predicting surface motion, the method enables more precise control of layer height, with an error inferior to 0.1 mm.